CN101771251A - Moving obstacle-crossing mechanism of inspection robot - Google Patents
Moving obstacle-crossing mechanism of inspection robot Download PDFInfo
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- CN101771251A CN101771251A CN200810230386A CN200810230386A CN101771251A CN 101771251 A CN101771251 A CN 101771251A CN 200810230386 A CN200810230386 A CN 200810230386A CN 200810230386 A CN200810230386 A CN 200810230386A CN 101771251 A CN101771251 A CN 101771251A
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Abstract
The invention relates to a moving robot, in particular to a moving obstacle-crossing mechanism of an inspection robot, comprising a front moving mechanism, a front deflection mechanism, a bracket, a lifting mechanism, a rear deflection mechanism and a rear moving mechanism, wherein, the bracket is connected with the inspection robot, the lifting mechanism is hinged with the bracket, the front deflection mechanism and the rear deflection mechanism are symmetrically installed on the lifting mechanism, and the front moving mechanism and the rear moving mechanism are respectively installed on the front deflection mechanism and the rear deflection mechanism to be linked with the front deflection mechanism and the rear deflection mechanism. The advantages of the invention are as follows: the moving mechanism adopted by the invention has functions of both moving and gripping, which facilitates moving, climbing and obstacle-crossing; the adaptability to the road is good, the safety protection is good, and the invention is suitable for needs of field operation and moving on/down the line.
Description
Technical field
The present invention relates to the mobile robot, specifically a kind of moving obstacle-crossing mechanism of crusing robot.
Background technology
Transmission line is the very important part of electric power system, safely and steadily runs in order to guarantee it, need regularly carry out walkaround inspection.The present method that adopts mainly contains manual inspection and helicopter is patrolled and examined.The efficient of manual inspection is low, and labour intensity is big, and is dangerous high; The cost height that helicopter is patrolled and examined is patrolled and examined quality and is subject to climatic effect.Therefore, need development can carry communication and the robot that patrols and examines instrument replaces manually transmission line being patrolled and examined automatically,, guarantee the safe operation of transmission line to raise the efficiency.In existing EHV transmission line patrol robot mechanism, the most of employing by the wheeled mobile composite moving mechanism that combines with composite rod mechanism (referring to document 1:Jun Sawada, Kazuyuki Kusumoto, Tadashi Munakata, Yasuhisa Maikawa, Yoshinobu Ishikawa, " A Mobile Robot ForInspection of Power Transmission Lines ", IEEE Trans.PowerDelivery, 1991, Vol.6, No.1:pp..309-315; Document 2:Mineo Higuchi, Yoichiro Maeda, Sadahiro Tsutani, Shiro Hagihara, " Developmentof a Mobile Inspection Robot for Power Transmission Lines ", J.of the Robotics Society of Japan, Japan, Vol.9, No.4, pp.457-463,1991), (the document 3:Shin-ichi Aoshima of multiple degrees of freedom travel mechanism that perhaps adopts many group mobile units to be composed in series, Takeshi Tsujimura, TetsuroYabuta, " A Wire Mobile Robot with Multi-unit Structure ", IEEE/RSJ Intermational Workshop on Intelligent Robots andSystems ' 89, Sep.4-6,1989, Tsukuba, Japan, pp.414-421).The complex structure of these mechanisms, weight are big, need regulate barycenter during obstacle detouring, and obstacle climbing ability is limited and wayward, and security protection is poor when walking, therefore, is difficult to be applied to actual extra high voltage network and patrols and examines in the operation.
Summary of the invention
At above shortcomings part in the prior art, the object of the present invention is to provide a kind of obstacle climbing ability strong, need not to regulate barycenter, ramp angle is big, fail safe is good during walking, but the moving obstacle-crossing mechanism of the dual-purpose inspection robot of walking of road wheel double as and holding function.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes pre-walking mechanism, preceding deflection mechanism, support, elevating mechanism, post deflection mechanism and rear walking mechanism, support links to each other with crusing robot, elevating mechanism is hinged on the support, forward and backward deflection mechanism symmetry is installed on the elevating mechanism, forward and backward walking mechanism is installed in respectively on the forward and backward deflection mechanism, with forward and backward deflection mechanism interlock.
Wherein: described elevating mechanism comprises reversing frame, turning motor, second worm screw, the 3rd end cap, second reduction box, second worm gear and gyroaxis, one end of gyroaxis is articulated in support, reversing frame is fixed on the gyroaxis, with its interlock, second reduction box is installed on the reversing frame, and the other end of gyroaxis inserts in second reduction box; Second worm screw and second worm gear are placed in second reduction box, turning motor be installed in the 3rd affixed motor cabinet of second reduction box on, the output shaft of turning motor links to each other with second worm screw, second worm screw be fixed in the second worm gear engaged transmission of gyroaxis; The outside of second reduction box is provided with the 3rd end cap; Reversing frame is " V " shape, and the two ends of " V " shape are " C " shape structure of opening, are respectively equipped with forward and backward walking mechanism and forward and backward deflection mechanism at the two ends of reversing frame; The end of second worm screw links to each other with the output shaft of turning motor, is socketed with second bearing on second worm screw; The structure of described forward and backward walking mechanism is identical, comprise road wheel, live axle, driven gear, driving gear, first motor cabinet, movable motor, axle sleeve and adapter sleeve, movable motor is installed on first motor cabinet, the output shaft of movable motor is provided with driving gear, is connected with the driven gear with the driving gear engaged transmission on the road wheel; Be connected with the adapter sleeve affixed with the yawing axis of deflection mechanism on first motor cabinet, road wheel is socketed on the live axle, walks on the overhead ground wire by race, and live axle is connected with adapter sleeve; Be respectively equipped with the clutch shaft bearing and the axle sleeve that are socketed on the live axle between road wheel and the live axle, road wheel can rotate relative to live axle; The material of road wheel is a polyurethane material; Described forward and backward deflection mechanism structure is identical, comprises deflection motor, first worm screw, first worm gear and yawing axis, and yawing axis is articulated in " C " shape opening of reversing frame, and walking mechanism is affixed by adapter sleeve and yawing axis; The output shaft of deflection motor links to each other with first worm screw, is fixed in first worm gear and the first worm engaging transmission of yawing axis; First worm screw and first worm gear are placed in and are arranged in first reduction box on the reversing frame, and deflection motor is installed in second motor cabinet on first reduction box; The two ends of first reduction box are respectively equipped with first end cap and second end cap, and first reduction box is fixed on the reversing frame by second end cap.
Advantage of the present invention and good effect are:
1. the effect that road wheel of the present invention has walking concurrently and clamps is beneficial to walking climbing and obstacle detouring; This structure possesses the advantage of mobile climbing mechanism, can walk fast along the line and leaping over obstacles.
2. security protection is good.The wheel groove width of road wheel of the present invention and dark; the robot of two moving obstacle-crossing mechanisms of the present invention of use in the process of walking; four walking races all grasp with circuit; two road wheels are at least all arranged on the line during obstacle detouring; make robot in walking and obstacle detouring process, be unlikely to fall down, play the safeguard protection effect from line.
3. the obstacle climbing ability of creeping is strong.The present invention has the road wheel of two active drive, and locomotor activity is strong, and can make wheel form clamping from the both sides up and down of circuit when climbing the wide-angle circuit, increases normal pressure, is easy to climb the wide-angle circuit; Only need adjust the position of road wheel during obstacle detouring, need not mobile robot's car body and regulate barycenter, just can cross over middle various disorders (stockbridge damper, aluminium hydraulic pressed connecting pipe and overhanging golden tool etc.) on the extra high voltage network.
4. the adaptability to circuit is good.The wheel groove width of road wheel of the present invention and dark can adapt to the circuit of different-diameter.
5. applied range.The present invention can be widely used in the crusing robot travel mechanism of ultra-high-tension power transmission line and telephone line.
Description of drawings
Fig. 1 is a structural front view of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the left view of Fig. 1;
Fig. 4 is the right view of Fig. 1;
Fig. 5 is the perspective view of walking mechanism of the present invention;
Fig. 6 is the perspective view of deflection mechanism of the present invention;
Fig. 7 is the perspective view of elevating mechanism of the present invention;
Fig. 8 a is that the present invention is at low-angle circuit walking states schematic diagram;
Fig. 8 b is that the present invention is at wide-angle circuit walking states schematic diagram;
Fig. 9 a is obstacle environment (stockbridge damper, single hanging point, the stockbridge damper) schematic diagram of extra high voltage network
Fig. 9 b is obstacle environment (stockbridge damper, double hanging point, the stockbridge damper) schematic diagram of extra high voltage network;
Figure 10 a describes schematic diagram in conjunction with arm and casing at the first element of obstacle detouring process for the present invention;
Figure 10 b for the present invention in conjunction with arm and casing second action description schematic diagram in the obstacle detouring process;
Figure 10 c for the present invention in conjunction with arm and casing the 3rd action description schematic diagram in the obstacle detouring process;
Figure 10 d for the present invention in conjunction with arm and casing the 4th action description schematic diagram in the obstacle detouring process;
Figure 10 e for the present invention in conjunction with arm and casing the 5th action description schematic diagram in the obstacle detouring process;
Wherein: 1 is road wheel, and 2 is live axle, and 3 is clutch shaft bearing, 4 is driven gear, and 5 is driving gear, and 6 is first motor cabinet, 7 is movable motor, and 8 is deflection motor, and 9 is second motor cabinet, 10 is first worm screw, and 11 is first reduction box, and 12 is first worm gear, 13 is yawing axis, and 14 is first end cap, and 15 is first flat key, 16 is second end cap, and 17 is reversing frame, and 18 is turning motor, 19 is the 3rd motor cabinet, and 20 is second bearing, and 21 is second worm screw, 22 is the 3rd end cap, and 23 is screw, and 24 is second reduction box, 25 is second worm gear, 26 second flat keys, and 27 is gyroaxis, 28 is support, and 29 is adapter sleeve, and 30 is pre-walking mechanism, 31 is preceding deflection mechanism, and 32 is elevating mechanism, and 33 is post deflection mechanism, 34 is rear walking mechanism, and 35 is overhead ground wire, and 36 is first stockbridge damper, 37 is first insulator, and 38 is first overhanging golden tool and wire clamp, and 39 is second stockbridge damper, 40 is second insulator, and 41 is second overhanging golden tool and wire clamp, and 42 is axle sleeve.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Shown in Fig. 1～4, the present invention is used to drive crusing robot and patrols and examines operation on overhead transmission line, comprise pre-walking mechanism 30, preceding deflection mechanism 31, support 28, elevating mechanism 32, post deflection mechanism 33 and rear walking mechanism 34, support 28 links to each other with crusing robot, elevating mechanism 32 is hinged on the support 28, forward and backward deflection mechanism 31,33 symmetries are installed in the two ends of the reversing frame 17 of elevating mechanism 32, forward and backward walking mechanism 30,34 is installed in respectively on the yawing axis 13 of forward and backward deflection mechanism 31,33, with forward and backward deflection mechanism 31,33 interlocks.
As Fig. 1, shown in Figure 7, elevating mechanism 32 comprises reversing frame 17, turning motor 18, the 3rd motor cabinet 19, second bearing 20, second worm screw 21, the 3rd end cap 22, screw 23, second reduction box 24, second worm gear 25, second flat key 26, reaches gyroaxis 27, one end of gyroaxis 27 is articulated in support 28, reversing frame 17 is with gyroaxis 27 Joints, along with gyroaxis 27 rotates, second reduction box 24 is fixedly mounted on the center of reversing frame 17, and the other end of gyroaxis 27 inserts in second reduction box 24; Second worm screw 21 and second worm gear 25 are placed in second reduction box 24, and the outside of second reduction box 24 is provided with the 3rd end cap 22; Turning motor 18 be installed in the 3rd affixed motor cabinet 19 of second reduction box 24 on, the output shaft of turning motor 18 is penetrated, is linked to each other with the end of second worm screw 21 by second reduction box 24, the other end of second worm screw 21 is articulated on the 3rd end cap 22, the second worm screws 21 by screw 23 and is socketed with second bearing 20; Second worm gear 25 is fixedly mounted on the gyroaxis 27 by second flat key 26, second worm screw 21 and second worm gear, 25 engaged transmission.Reversing frame 17 is " V " shape, and the two ends of " V " shape are " C " shape structure of opening, are respectively equipped with forward and backward walking mechanism 30,34 and forward and backward deflection mechanism 31,33 at the two ends of reversing frame 17.
As Fig. 2, shown in Figure 5, before, rear walking mechanism 30,34 structure is identical, comprise road wheel 1, live axle 2, clutch shaft bearing 3, driven gear 4, driving gear 5, first motor cabinet 6, movable motor 7, axle sleeve 42 and adapter sleeve 29, movable motor 7 is installed on first motor cabinet 6, the output shaft of movable motor 7 is passed by first motor cabinet 6, be provided with driving gear 5, be connected with driven gear 4 on the road wheel 1 with driving gear 5 engaged transmission, driven gear 4 is coaxial with road wheel 1, also is connected with the adapter sleeve 29 affixed with the yawing axis of deflection mechanism on first motor cabinet 6; Be respectively equipped with the clutch shaft bearing 3 and the axle sleeve 42 that are socketed on the live axle 2 between road wheel 1 and the live axle 2, road wheel 1 can rotate relative to live axle 2; Road wheel 1 is socketed on the live axle 2, walks on the overhead ground wire by race, and live axle 2 is connected with adapter sleeve 29.The material of road wheel 1 is a polyurethane material, can increase friction with overhead ground wire 35, is beneficial to walking; The end face of two road wheels 1 in the forward and backward walking mechanism 30,34 is in same vertical plane.
As Fig. 1, shown in Figure 6, forward and backward deflection mechanism 31,33 structures are identical, comprise deflection motor 8, second motor cabinet 9, first worm screw 10, first reduction box 11, first worm gear 12, yawing axis 13, first end cap 14, first flat key 15 and second end cap 16, yawing axis 13 is articulated in reversing frame 17 " C " shape opening, the other end is passed, is passed through first flat key, 15 Joints with first worm gear 12 by the top of " C " shape opening, and yawing axis 13 is hinged with the top of " C " shape opening; Walking mechanism is affixed by adapter sleeve 29 and yawing axis 13, along with yawing axis 13 rotates; First worm screw 10 and first worm gear 12 are placed in and are arranged in first reduction box 11 on the reversing frame 17, deflection motor 8 is installed in second motor cabinet 9 on first reduction box 11, the output shaft of deflection motor 8 is connected with first worm screw 10 after being penetrated by first reduction box 11 again, first worm gear 12 and first worm screw, 10 engaged transmission; The two ends of first reduction box 11 are respectively equipped with first end cap 14 and second end cap, 16, the first reduction boxes 11 are fixed on the reversing frame 17 by second end cap 16.
Operation principle of the present invention is:
On overhead ground wire, walk: movable motor 7 work, drive driving gear 5 and rotate, driving gear 5 by with the engaged transmission of driven gear 4, drive driven gear 4 and road wheel 1 rotates, realize that road wheel walks on overhead ground wire 35.
Deflection: deflection motor 8 work, drive first worm screw 10 by its output shaft and rotate, first worm screw 10 by with the engaged transmission of first worm gear 12, drive first worm gear 12 and yawing axis 13 rotates; Because yawing axis 13 and adapter sleeve are 29 affixed, adapter sleeve 29 links to each other with live axle 2, therefore comprise road wheel 1 walking mechanism can under the drive of yawing axis 13, in " C " of reversing frame 17 shape opening, rotate realization deflection around yawing axis 13.
Lifting: turning motor 18 work, drive second worm screw 21 by its output shaft and rotate, second worm screw 21 by with the engaged transmission of second worm gear 25, drive second worm gear 25 and gyroaxis 27 rotates; Because reversing frame 17 is affixed with gyroaxis 27, thus reversing frame 17 under the drive of gyroaxis 27, wraparound rotating shaft 27 rotates, and realize that the road wheel of reversing frame 17 1 ends raises, and the road wheel of the other end reduces.
Walking, deflection, the lifting of two road wheels in the forward and backward walking mechanism 30,34 are all undertaken by aforesaid operations.
When practical application, need two groups of identical moving obstacle-crossing mechanisms of structure are installed in respectively on the forward and backward arm of crusing robot, forward and backward arm can be fixed on the casing, also can by leading screw and sliding nut be threaded or rack-and-pinion is connected on the casing of crusing robot, perhaps make the installation site scalable of arm on casing, adjusting by the installation site or leading screw, rack-and-pinion flexible, adjust the distance between forward and backward arm, to adapt to the variation of distance between the different obstacles.
When the circuit angle hour, two road wheels 1 of forward and backward walking mechanism 30,34 are all above overhead ground wire 35 in the moving obstacle-crossing mechanism, the movable motor 7 rear drive road wheel 1 that powers on rotates forward or backwards, realizes that crusing robot advances or retreats on overhead ground wire 35, shown in Fig. 8 a.
When the circuit angle of walking is big, the turning motor 18 of elevating mechanism 32 drives reversing frames 17 set angle that turns clockwise earlier, the rear walking wheel of rear walking mechanism 34 in the moving obstacle-crossing mechanism is risen (road wheel that is positioned at the front descends, pushes down overhead ground wire downwards), leave overhead ground wire, be raised to the setting height of overhead ground wire top, turning motor 18 quits work; The deflection motor 8 of back row travelling wheel drives yawing axis 13 deflections, makes the road wheel of back depart from directly over the overhead ground wire, deflects into ground wire side top; Then turning motor 18 drive reversing frames 17 rotate counterclockwise, make rear walking mechanism 34 drop to the side-lower (road wheel that is positioned at the front is increased to original position) of overhead ground wire 35, then, the deflection motor 8 of back row travelling wheel drives yawing axis 13 and rotates, make rear walking mechanism 34 deflect into overhead ground wire under, last turning motor 18 drives reversing frame 17 and clockwise rotates, make the road wheel of rear walking mechanism 34 below overhead ground wire, contact and upwards compress with ground wire, the road wheel of pre-walking mechanism 30 compresses ground wire downwards simultaneously, ground wire is closely contacted with road wheel, increased normal pressure, then by 1 walking of movable motor 7 ground-engaging wheels, promptly be convenient on the circuit of wide-angle, walk, shown in Fig. 8 b.
Shown in Fig. 9 a, the 9b, be extra high voltage network obstacle environment schematic diagram.The main obstacles thing is first stockbridge damper 36, first insulator 37, first overhanging golden tool and the wire clamp 38 and second stockbridge damper 39 on overhead ground wire 35; Or first stockbridge damper 36, first insulator 37, first overhanging golden tool and wire clamp 38, second insulator 40, second overhanging golden tool and the wire clamp 41 and second stockbridge damper 39.Moving obstacle-crossing mechanism of the present invention is installed on the forward and backward arm of crusing robot, drive by movable motor 7 during work, driving robot walks on overhead ground wire 35, by the routing motion of elevating mechanism 32 of the present invention and forward and backward deflection mechanism 31,33, can advance and cross over the barrier on the overhead ground wire 35 along the line.
When the 1 drive robot of the road wheel on the forward and backward moving obstacle-crossing mechanism of robot walks on overhead ground wire 35 with speed V, after running into first stockbridge damper 36, front walking wheel in the preceding moving obstacle-crossing mechanism stops (shown in Figure 10 a), the reversing frame 17 that turning motor 18 in the preceding moving obstacle-crossing mechanism drives these mechanisms is rotated counterclockwise set angle, front walking wheel is risen, leave overhead ground wire 35, be raised to the setting height of overhead ground wire 35 tops; Then, rear walking wheel in the preceding moving obstacle-crossing mechanism and back two road wheels in the moving obstacle-crossing mechanism are walked under the driving of movable motor 7 separately, and the rear walking wheel in preceding barrier getting over mechanism runs into first stockbridge damper 36 and stops; At this moment, the front walking wheel in the preceding barrier getting over mechanism has been crossed first stockbridge damper 36, and the turning motor 18 in the preceding barrier getting over mechanism turns clockwise again, and the front walking wheel before making in the barrier getting over mechanism descends, on the overhead ground wire 35 that falls back.After this, rear walking wheel in the preceding barrier getting over mechanism will be crossed first stockbridge damper 36, the obstacle detouring process is identical with front walking wheel, and the state after the leap is shown in Figure 10 b, and the process that the forward and backward road wheel in the back barrier getting over mechanism is crossed over first stockbridge damper 36 is also identical with road wheel in the preceding barrier getting over mechanism.
Front walking wheel in the current barrier getting over mechanism advances to first overhanging golden tool and wire clamp 38 places stop, turning motor 18 driving rotational framves 17 in the preceding barrier getting over mechanism are rotated counterclockwise set angle, front walking wheel is risen, be elevated to the setting height of overhead ground wire 35 tops, deflection motor on the front walking wheel 8 driving yawing axis 13 rotations in the barrier getting over mechanism then, make 90 ° of front walking wheel deflections, leave directly over the overhead ground wire; Then, before in rear walking wheel in the preceding barrier getting over mechanism and the back barrier getting over mechanism, rear walking wheel continues to drive walking under the driving of movable motor 7 separately, rear walking wheel in preceding barrier getting over mechanism runs into first overhanging golden tool and wire clamp 38 stops, at this moment, front walking wheel in the preceding barrier getting over mechanism has been crossed first overhanging golden tool and wire clamp 38, deflection motor 8 in the preceding barrier getting over mechanism continues to drive yawing axis 13 and rotates, front walking wheel before driving in the barrier getting over mechanism return overhead ground wire directly over, turning motor 18 then in the barrier getting over mechanism drives reversing frame 17 and clockwise rotates, front walking wheel before making in the barrier getting over mechanism descends, drop on the overhead ground wire 35, the front walking wheel in the preceding like this barrier getting over mechanism has just been crossed first overhanging golden tool and wire clamp 38.After this, the rear walking wheel in the preceding barrier getting over mechanism is also crossed first overhanging golden tool and wire clamp 38 by aforesaid operations, and the state after crossing is shown in Figure 10 c.But the forward and backward road wheel aforesaid operations in the back barrier getting over mechanism is crossed first overhanging golden tool and wire clamp 38 successively.
The process of crossing over second stockbridge damper 39 is identical with the process of crossing over first stockbridge damper 36, and the leap state is shown in Figure 10 d, 10e.When crusing robot runs into the obstacle environment of stockbridge damper shown in Fig. 9 b, double hanging point, stockbridge damper, its leap process with cross over shown in Fig. 9 a the obstacle environment facies with.
Two road wheels of the present invention all adopt polyurethane material, when climbing the heavy grade ground wire, a road wheel up presss from both sides ground wire below ground wire, another road wheel is the past ground wire that presses down above ground wire, increased the normal pressure of road wheel to overhead ground wire 35, thereby increased frictional force, robot is upwards creeped along the overhead ground wire 35 of wide-angle.First and second bearing 3,20 of the present invention is deep groove ball bearing.
The walking mechanism that the present invention adopts has walking and jaw function concurrently, is beneficial to walking, climbing and obstacle detouring, and good to the adaptability of circuit, security protection is good, the suitable field work and the needs of circuit up and down.
Claims (10)
1. the moving obstacle-crossing mechanism of a crusing robot, it is characterized in that: comprise pre-walking mechanism (30), preceding deflection mechanism (31), support (28), elevating mechanism (32), post deflection mechanism (33) and rear walking mechanism (34), support (28) links to each other with crusing robot, elevating mechanism (32) is hinged on the support (28), forward and backward deflection mechanism (31,33) symmetry is installed on the elevating mechanism (32), forward and backward walking mechanism (30,34) be installed in respectively forward and backward deflection mechanism (31,33) go up, with forward and backward deflection mechanism (31,33) interlock.
2. press the moving obstacle-crossing mechanism of the described crusing robot of claim 1, it is characterized in that: described elevating mechanism (32) comprises reversing frame (17), turning motor (18), second worm screw (21), the 3rd end cap (22), second reduction box (24), second worm gear (25) and gyroaxis (27), one end of gyroaxis (27) is articulated in support (28), reversing frame (17) be fixed in gyroaxis (27) go up, with its interlock, second reduction box (24) is installed on the reversing frame (17), and the other end of gyroaxis (27) inserts in second reduction box (24); Second worm screw (21) and second worm gear (25) are placed in second reduction box (24), turning motor (18) be installed in affixed the 3rd motor cabinet (19) of second reduction box (24) on, the output shaft of turning motor (18) links to each other with second worm screw (21), second worm screw (21) and second worm gear (25) engaged transmission that is fixed in gyroaxis (27); The outside of second reduction box (24) is provided with the 3rd end cap (22).
3. press the moving obstacle-crossing mechanism of the described crusing robot of claim 2, it is characterized in that: described reversing frame (17) is " V " shape, the two ends of " V " shape are " C " shape structure of opening, are respectively equipped with forward and backward walking mechanism (30,34) and forward and backward deflection mechanism (31,33) at the two ends of reversing frame (17).
4. by the moving obstacle-crossing mechanism of the described crusing robot of claim 2, it is characterized in that: the end of described second worm screw (21) links to each other with the output shaft of turning motor (18), is socketed with second bearing (20) on second worm screw (21).
5. press the moving obstacle-crossing mechanism of the described crusing robot of claim 1, it is characterized in that: the structure of described forward and backward walking mechanism (30,34) is identical, comprise road wheel (1), live axle (2), driven gear (4), driving gear (5), first motor cabinet (6), movable motor (7), axle sleeve (42) and adapter sleeve (29), movable motor (7) is installed on first motor cabinet (6), the output shaft of movable motor (7) is provided with driving gear (5), is connected with the driven gear (4) with driving gear (5) engaged transmission on the road wheel (1); Be connected with the adapter sleeve affixed with the yawing axis of deflection mechanism (29) on first motor cabinet (6), road wheel (1) is socketed in live axle (2) and goes up, walks on the overhead ground wire by race, and live axle (2) is connected with adapter sleeve (29).
6. press the moving obstacle-crossing mechanism of the described crusing robot of claim 5, it is characterized in that: be respectively equipped with the clutch shaft bearing (3) and the axle sleeve (42) that are socketed on the live axle (2) between described road wheel (1) and the live axle (2), road wheel (1) can rotate relative to live axle (2).
7. by the moving obstacle-crossing mechanism of the described crusing robot of claim 5, it is characterized in that: the material of described road wheel (1) is a polyurethane material.
8. press the moving obstacle-crossing mechanism of the described crusing robot of claim 1, it is characterized in that: described forward and backward deflection mechanism (31,33) structure is identical, comprise deflection motor (8), first worm screw (10), first worm gear (12) and yawing axis (13), yawing axis (13) is articulated in " C " shape opening of reversing frame (17), and walking mechanism is affixed by adapter sleeve (29) and yawing axis (13); The output shaft of deflection motor (8) links to each other with first worm screw (10), is fixed in first worm gear (12) and first worm screw (10) engaged transmission of yawing axis (13).
9. press the moving obstacle-crossing mechanism of the described crusing robot of claim 8, it is characterized in that: described first worm screw (10) and first worm gear (12) are placed in and are arranged in first reduction box (11) on the reversing frame (17), and deflection motor (8) is installed in second motor cabinet (9) on first reduction box (11).
10. press the moving obstacle-crossing mechanism of the described crusing robot of claim 9, it is characterized in that: the two ends of described first reduction box (11) are respectively equipped with first end cap (14) and second end cap (16), and first reduction box (11) is fixed on the reversing frame (17) by second end cap (16).
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